客户反馈2.0助力比版本速度较快，适当减小助力比。

MDK-ARM/QD007A_CTL_APP.uvprojx

@@ -14,8 +14,6 @@
         <TargetCommonOption>
           <Device>STM32F103RB</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F1xx_DFP.1.1.0</PackID>
-          <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IROM(0x08000000,0x20000) IRAM(0x20000000,0x5000) CPUTYPE("Cortex-M3") CLOCK(72000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -84,8 +82,6 @@
             <UserProg2Name>.\crc_gen_keil.bat</UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
-            <nStopA1X>0</nStopA1X>
-            <nStopA2X>0</nStopA2X>
           </AfterMake>
           <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
@@ -129,7 +125,7 @@
             <LoadApplicationAtStartup>1</LoadApplicationAtStartup>
             <RunToMain>1</RunToMain>
             <RestoreBreakpoints>1</RestoreBreakpoints>
-            <RestoreWatchpoints>1</RestoreWatchpoints>
+            <RestoreWatchpoints>0</RestoreWatchpoints>
             <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
             <RestoreFunctions>1</RestoreFunctions>
             <RestoreToolbox>1</RestoreToolbox>
@@ -147,9 +143,10 @@
             <RestoreToolbox>1</RestoreToolbox>
             <RestoreTracepoints>1</RestoreTracepoints>
             <RestoreSysVw>1</RestoreSysVw>
+            <UsePdscDebugDescription>1</UsePdscDebugDescription>
           </Target>
           <RunDebugAfterBuild>0</RunDebugAfterBuild>
-          <TargetSelection>1</TargetSelection>
+          <TargetSelection>6</TargetSelection>
           <SimDlls>
             <CpuDll></CpuDll>
             <CpuDllArguments></CpuDllArguments>
@@ -163,7 +160,7 @@
             <PeripheralDll></PeripheralDll>
             <PeripheralDllArguments></PeripheralDllArguments>
             <InitializationFile></InitializationFile>
-            <Driver>BIN\UL2CM3.DLL</Driver>
+            <Driver>Segger\JL2CM3.dll</Driver>
           </TargetDlls>
         </DebugOption>
         <Utilities>
@@ -363,8 +360,6 @@
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
             <useXO>0</useXO>
-            <v6Lang>0</v6Lang>
-            <v6LangP>0</v6LangP>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F103xB</Define>

MDK-ARM/stm32f1xx_stucpuregsaddressing.lst

@@ -121,20 +121,13 @@ ARM Macro Assembler    Page 2
                                                             ler
    98 00000096                 ENDP
    99 00000096                 END
-Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
-ork --depend=.\qd007a_ctl_app\stm32f1xx_stucpuregsaddressing.d -o.\qd007a_ctl_a
-pp\stm32f1xx_stucpuregsaddressing.o -ID:\Documents\Work\SoftDesign\TT-KZ-010A_C
-TRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.4.0\CMSIS\Include -IC:\Ke
-il_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB 
-SETA 1" --predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_ SETA 1" --p
-redefine="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuregsaddressing.lst ..\Sel
-
-
-
-ARM Macro Assembler    Page 3 
-
-
-fTestUser\src_specific\stm32f1xx_STUCpuRegsAddressing.s
+Command Line: --debug --xref --cpu=Cortex-M3 --apcs=interwork --depend=.\qd007a
+_ctl_app\stm32f1xx_stucpuregsaddressing.d -o.\qd007a_ctl_app\stm32f1xx_stucpure
+gsaddressing.o -ID:\SoftDesign\20190311_QD007A_CTL\TT-KZ-010A_CTRL_APP\TT-KZ-01
+0A_CTRL_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.1.0\CMSIS\Include -IC
+:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.0.4\Device\Include --predefine="__MICRO
+LIB SETA 1" --list=stm32f1xx_stucpuregsaddressing.lst ..\SelfTestUser\src_speci
+fic\stm32f1xx_STUCpuRegsAddressing.s
 
 
 
@@ -246,4 +239,4 @@ ssing.s
 ssing.s
 Comment: FailSafePOR used once
 3 symbols
-341 symbols in table
+338 symbols in table

MDK-ARM/stm32f1xx_stucpuwalkpatkeil.lst

@@ -1591,14 +1591,13 @@ ARM Macro Assembler    Page 25
  1170 000006D0         
  1171 000006D0         
  1172 000006D0                 END
-Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
-ork --depend=.\qd007a_ctl_app\stm32f1xx_stucpuwalkpatkeil.d -o.\qd007a_ctl_app\
-stm32f1xx_stucpuwalkpatkeil.o -ID:\Documents\Work\SoftDesign\TT-KZ-010A_CTRL_AP
-P\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.4.0\CMSIS\Include -IC:\Keil_v5\
-ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1
-" --predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_ SETA 1" --predefi
-ne="STM32F10X_MD SETA 1" --list=stm32f1xx_stucpuwalkpatkeil.lst ..\SelfTestUser
-\src_specific\stm32f1xx_STUCpuWalkpatKEIL.s
+Command Line: --debug --xref --cpu=Cortex-M3 --apcs=interwork --depend=.\qd007a
+_ctl_app\stm32f1xx_stucpuwalkpatkeil.d -o.\qd007a_ctl_app\stm32f1xx_stucpuwalkp
+atkeil.o -ID:\SoftDesign\20190311_QD007A_CTL\TT-KZ-010A_CTRL_APP\TT-KZ-010A_CTR
+L_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.1.0\CMSIS\Include -IC:\Keil
+_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.0.4\Device\Include --predefine="__MICROLIB SE
+TA 1" --list=stm32f1xx_stucpuwalkpatkeil.lst ..\SelfTestUser\src_specific\stm32
+f1xx_STUCpuWalkpatKEIL.s
 
 
 
@@ -2666,4 +2665,4 @@ KEIL.s
 KEIL.s
 
 1 symbol
-401 symbols in table
+398 symbols in table

MDK-ARM/stm32f1xx_sturamwalkpatkeil.lst

@@ -428,14 +428,13 @@ ARM Macro Assembler    Page 7
   329 000001F2                 ENDP
   330 000001F2         
   331 000001F2                 END
-Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw
-ork --depend=.\qd007a_ctl_app\stm32f1xx_sturamwalkpatkeil.d -o.\qd007a_ctl_app\
-stm32f1xx_sturamwalkpatkeil.o -ID:\Documents\Work\SoftDesign\TT-KZ-010A_CTRL_AP
-P\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.4.0\CMSIS\Include -IC:\Keil_v5\
-ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include --predefine="__MICROLIB SETA 1
-" --predefine="__UVISION_VERSION SETA 515" --predefine="_RTE_ SETA 1" --predefi
-ne="STM32F10X_MD SETA 1" --list=stm32f1xx_sturamwalkpatkeil.lst ..\SelfTestUser
-\src_specific\stm32f1xx_STURamWalkpatKEIL.s
+Command Line: --debug --xref --cpu=Cortex-M3 --apcs=interwork --depend=.\qd007a
+_ctl_app\stm32f1xx_sturamwalkpatkeil.d -o.\qd007a_ctl_app\stm32f1xx_sturamwalkp
+atkeil.o -ID:\SoftDesign\20190311_QD007A_CTL\TT-KZ-010A_CTRL_APP\TT-KZ-010A_CTR
+L_APP\MDK-ARM\RTE -IC:\Keil_v5\ARM\PACK\ARM\CMSIS\4.1.0\CMSIS\Include -IC:\Keil
+_v5\ARM\PACK\Keil\STM32F1xx_DFP\1.0.4\Device\Include --predefine="__MICROLIB SE
+TA 1" --list=stm32f1xx_sturamwalkpatkeil.lst ..\SelfTestUser\src_specific\stm32
+f1xx_STURamWalkpatKEIL.s
 
 
 
@@ -812,4 +811,4 @@ IL.s
       None
 Comment: FailSafePOR unused
 1 symbol
-363 symbols in table
+360 symbols in table

User/Src/motor_control.c

@@ -1437,15 +1437,15 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
 			  /*根据车速调节助力比*/
 				if(MC_RunInfo.BikeSpeed <= 50)
 				{
-				  Gain_K_ByCadence = 2361 + (50 - MC_RunInfo.BikeSpeed) * 24;
+				  Gain_K_ByCadence = 2270 + (50 - MC_RunInfo.BikeSpeed) * 10;
 				}
         else if(MC_RunInfo.BikeSpeed <= 100)
 				{
-					Gain_K_ByCadence = 2361;  //1.9
+					Gain_K_ByCadence = 2270;  //1.9
 				}
 				else if(MC_RunInfo.BikeSpeed <= 240)
 				{
-					Gain_K_ByCadence = 4047 - (168 * MC_RunInfo.BikeSpeed / 10);
+					Gain_K_ByCadence = 3890 - (162 * MC_RunInfo.BikeSpeed / 10);
 				}
 				else
 				{
@@ -1455,6 +1455,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
 				Gain_K_ByCadenceFltSum += (((int32_t )Gain_K_ByCadence << 10) - Gain_K_ByCadenceFltSum) >> 9;
 				Gain_K_ByCadenceFlted = Gain_K_ByCadenceFltSum >> 10;
 				
+				
 				Torque_Temp = (uint16_t)(((uint32_t)MC_TorqueProcess_Param.TorqueApp * Gain_K_ByCadenceFlted ) >> 10);
 				//换算到电机本体力矩
 				Torque_Temp = (Torque_Temp * 6 ) / 10 ;

User/Src/var.c

@@ -506,13 +506,13 @@ void Var_Init(void)
 	#if BaudRate250K
   strncpy(MC_VerInfo.FW_Version, (char*)"V4r1r0_20240126C", 16);
 	#else 
-	strncpy(MC_VerInfo.FW_Version, (char*)"V4r1r0_20240205C", 16);
+	strncpy(MC_VerInfo.FW_Version, (char*)"V4r1r0_20240219C", 16);
 	#endif
 	
   #if NormalWork
 	MC_VerInfo.FW_Version[15] = '.';
   #endif
-	strncpy(Firmware_Special, (char*)"TC013041-BM2102-V0r5.           ", 32);
+	strncpy(Firmware_Special, (char*)"TC013041-BM2102-V0r6.           ", 32);
 	if(MCUManufacturer == NoName) MC_VerInfo.HW_Version[10] = '0';
 	else if(MCUManufacturer == STM32F103RBT6) MC_VerInfo.HW_Version[10] = '1';
 	else if(MCUManufacturer == APM32F103RBT6) MC_VerInfo.HW_Version[10] = '2';